Chapter 2: Safety
Clearance
The LD Platform Cart Transporter is designed to operate in an environment that is generally
level and has no doors or other restricted areas too narrow for the platform and cart. It is the
user’s responsibility to ensure that adequate clearance is maintained on each side of the AMR,
so that a person cannot get trapped between the AMR and a wall or other fixed object. You
should consult the applicable standards for your area. An exception to side clearance can exist
at pickup and dropoff locations where the AMR must get close to conveyors or other fixed
objects.
The primary direction of travel of the LD Platform Cart Transporter is forward. When the trans-
porter is turning in place, with no forward movement, the detection of an obstacle in its path
of rotation will not trigger an E-Stop.
!
CAUTION:
PERSONAL INJURY RISK
Personnel who work with or around the transporter should not stand close to
the transporter when it is turning in place (with no forward motion).
Obstacles
If the LD Platform Cart Transporter will be entering high-traffic areas, the user must take appro-
priate precautions to alert people in those areas that an AMR might enter. If the traffic consists
of other machines, the user must adjust the AMR‘s and/or the other machine’s parameters to
reduce the risk of a collision.
Safety Scanning Laser Emergency Stop
If an obstacle enters the transporter’s immediate path, the safety scanning laser will trigger an
emergency stop. After the transporter has come to a complete stop, it will wait a minimum of
two seconds before resuming commanded motion, with no human intervention necessary.
l
If the obstacle is still in the transporter’s path, it will first attempt to safely path plan
and maneuver around the obstacle, if there is adequate room.
l
If the transporter can’t simply maneuver around the obstacle, it will search for another
path to reach its goal.
If it cannot find another path, it will react based on the configuration settings. Refer to
the FLOW Core User's Manual (Cat. No. I635) for more information.
Safety System Overspeed Faults
A CPLD Channel 1 or 2 fault, is a system fault, reported by independent safety system to the
firmware controlling the robot.
Safety standards EN1525 and ANSI B56.5 state that sensing in the reverse direction of motion
is not relied on as part of the AMR's safety system. This is because it is used only by software-
based obstacle detection, the LD's reverse travel is limited to <300 mm/s.
If an LD Platform is operated in a manner that exceeds this reverse speed limit, the safety sys-
tem will generate and report a fault signal. In normal, autonomous operation, this condition
triggers motion controllers to execute a controlled stop. However, if motion is disabled (E-Stop
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